ElectroYou - la comunità dei professionisti del mondo elettrico

da **Salvatore129** » 22 ott 2018, 15:18

Ciao Mario, si ricordo il tuo post e sono d'accordo con cio che avevi scritto: cioè un problema di risoluzine dei valori in scala ohm oppure come tu l'hai definita "quantizzazione".

L'unica cosa che non è corretta nel tuo post, quando si sente il rumore, il motore non ruota, non ruota in un verso o nell'altro e non trova la posizione esatta, non è così.
Il motore rimane fermo, immobile, perché è talmente vicina la posizione da raggiungere (target) che il motore non ruota.

Quindi suggerimenti?

da **marioursino** » 22 ott 2018, 15:27

Si, ti serve un'isteresi dopo la lettura del potenziometro.

Codice: Seleziona tutto: #define ISTERESI 10 errore_posizione = pos_motore - potenziometro; if(math.abs(errore_posizione) < ISTERESI) non_fare_niente(); else muovi_il_motore();

da **Salvatore129** » 22 ott 2018, 15:33

Sei gentilissimo
Io purtroppo non capisco nulla di programmazione.
Se ti allego lo sketch, tu potresti indicarmi dove andare a posizionare le righe dell'isteresi?

da **marioursino** » 22 ott 2018, 15:38

Posso provarci.

da **Salvatore129** » 22 ott 2018, 16:05

Grazie Mario, sei gentilissimo
Premessa: lo sketch è stato sviluppato per pilotare n°2 motori, quindi 2 potenziometri in ingresso.

Codice: Seleziona tutto: /* X-Sim PID This program will control two motor H-Bridge with analogue feedback and serial target input value Target is a Arduino UNO R3 but should work on all Arduino with Atmel 328, Arduinos with an FTDI serial chip need a change to lower baudrates of 57600 Copyright (c) 2013 Martin Wiedenbauer, particial use is only allowed with a reference link to the x-sim.de project Command input protocol (always 5 bytes, beginning with 'X' character and ends with a XOR checksum) 'X' 1 H L C Set motor 1 position to High and Low value 0 to 1023 'X' 2 H L C Set motor 2 position to High and Low value 0 to 1023 'X' 3 H L C Set motor 1 P Proportional value to High and Low value 'X' 4 H L C Set motor 2 P Proportional value to High and Low value 'X' 5 H L C Set motor 1 I Integral value to High and Low value 'X' 6 H L C Set motor 2 I Integral value to High and Low value 'X' 7 H L C Set motor 1 D Derivative value to High and Low value 'X' 8 H L C Set motor 2 D Derivative value to High and Low value 'X' 200 0 0 C Send back over serial port both analogue feedback raw values 'X' 201 0 0 C Send back over serial port the current pid count 'X' 202 0 0 C Send back over serial port the firmware version (used for x-sim autodetection) 'X' 203 M V C Write EEPROM on address M (only 0 to 255 of 1024 Bytes of the EEPROM) with new value V 'X' 204 M 0 C Read EEPROM on memory address M (only 0 to 255 of 1024 Bytes of the EEPROM), send back over serial the value 'X' 205 0 0 C Clear EEPROM 'X' 206 0 0 C Reread the whole EEPRom and store settings into fitting variables 'X' 207 0 0 C Disable power on motor 1 'X' 208 0 0 C Disable power on motor 2 'X' 209 0 0 C Enable power on motor 1 'X' 210 0 0 C Enable power on motor 2 'X' 211 0 0 C Send all debug values EEPROM memory map 00 empty eeprom detection, 111 if set, all other are indicator to set default 01-02 minimum 1 03-04 maximum 1 05 dead zone 1 06-07 minimum 2 08-09 maximum 2 10 dead zone 2 11-12 P component of motor 1 13-14 I component of motor 1 15-16 D component of motor 1 17-18 P component of motor 2 19-20 I component of motor 2 21-22 D component of motor 2 23 pwm1 offset 24 pwm2 offset 25 pwm1 maximum 26 pwm2 maximum 27 PWM frequency divider (1,8,64) Pin out of arduino for H-Bridge Pin 10 - PWM1 - Speed for Motor 1. Pin 9 - PWM2 - Speed for Motor 2. Pin 2 - INA1 - motor 1 turn Pin 3 - INA2 - motor 1 turn Pin 4 - INB1 - motor 2 turn Pin 5 - INB2 - motor 2 turn Analog Pins Pin A0 - input of feedback positioning from motor 1 Pin A1 - input of feedback positioning from motor 2 As well 5v and GND pins tapped in to feed feedback pots too. */ #include <EEPROM.h> //Some speed test switches for testers ;) #define FASTADC 1 //Hack to speed up the arduino analogue read function, comment out with // to disable this hack // defines for setting and clearing register bits #ifndef cbi #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) #endif #ifndef sbi #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) #endif #define LOWBYTE(v) ((unsigned char) (v)) //Read #define HIGHBYTE(v) ((unsigned char) (((unsigned int) (v)) >> 8)) #define BYTELOW(v) (*(((unsigned char *) (&v) + 1))) //Write #define BYTEHIGH(v) (*((unsigned char *) (&v))) #define GUARD_MOTOR_1_GAIN 100.0 #define GUARD_MOTOR_2_GAIN 100.0 //Firmware version info int firmaware_version_mayor=1; int firmware_version_minor =4; //360� option for flight simulators bool turn360motor1 = false; bool turn360motor2 = false; int virtualtarget1; int virtualtarget2; int currentanalogue1 = 0; int currentanalogue2 = 0; int target1=512; int target2=512; int low=0; int high=0; unsigned long hhigh=0; unsigned long hlow=0; unsigned long lhigh=0; unsigned long llow=0; int buffer=0; int buffercount=-1; int commandbuffer[5]={0}; unsigned long pidcount = 0; // unsigned 32bit, 0 to 4,294,967,295 byte errorcount = 0; // serial receive error detected by checksum // fixed DATA for direct port manipulation, exchange here each value if your h-Bridge is connected to another port pin // This pinning overview is to avoid the slow pin switching of the arduino libraries // // +-\/-+ // PC6 1| |28 PC5 (AI 5) // (D 0) PD0 2| |27 PC4 (AI 4) // (D 1) PD1 3| |26 PC3 (AI 3) // (D 2) PD2 4| |25 PC2 (AI 2) // PWM+ (D 3) PD3 5| |24 PC1 (AI 1) // (D 4) PD4 6| |23 PC0 (AI 0) // VCC 7| |22 GND // GND 8| |21 AREF // PB6 9| |20 AVCC // PB7 10| |19 PB5 (D 13) // PWM+ (D 5) PD5 11| |18 PB4 (D 12) // PWM+ (D 6) PD6 12| |17 PB3 (D 11) PWM // (D 7) PD7 13| |16 PB2 (D 10) PWM // (D 8) PB0 14| |15 PB1 (D 9) PWM // +----+ // int portdstatus =PORTD; // read the current port D bit mask int ControlPinM1Inp1 =2; // motor 1 INP1 output, this is the arduino pin description int ControlPinM1Inp2 =3; // motor 1 INP2 output, this is the arduino pin description int ControlPinM2Inp1 =4; // motor 2 INP1 output, this is the arduino pin description int ControlPinM2Inp2 =5; // motor 2 INP2 output, this is the arduino pin description int PWMPinM1 =10; // motor 1 PWM output int PWMPinM2 =9; // motor 2 PWM output // Pot feedback inputs int FeedbackPin1 = A0; // select the input pin for the potentiometer 1, PC0 int FeedbackPin2 = A1; // select the input pin for the potentiometer 2, PC1 int FeedbackMax1 = 1021; // Maximum position of pot 1 to scale, do not use 1023 because it cannot control outside the pot range int FeedbackMin1 = 2; // Minimum position of pot 1 to scale, do not use 0 because it cannot control outside the pot range int FeedbackMax2 = 1021; // Maximum position of pot 2 to scale, do not use 1023 because it cannot control outside the pot range int FeedbackMin2 = 2; // Minimum position of pot 2 to scale, do not use 0 because it cannot control outside the pot range int FeedbackPotDeadZone1 = 0; // +/- of this value will not move the motor int FeedbackPotDeadZone2 = 0; // +/- of this value will not move the motor float quarter1 = 254.75; float quarter2 = 254.75; float threequarter1 = 764.25; float threequarter2 = 764.25; //PID variables int motordirection1 = 0; // motor 1 move direction 0=brake, 1=forward, 2=reverse int motordirection2 = 0; // motor 2 move direction 0=brake, 1=forward, 2=reverse int oldmotordirection1 = 0; int oldmotordirection2 = 0; double K_motor_1 = 1; double proportional1 = 4.200; //initial value double integral1 = 0.400; double derivative1 = 0.400; double K_motor_2 = 1; double proportional2 = 4.200; double integral2 = 0.400; double derivative2 = 0.400; int OutputM1 = 0; int OutputM2 = 0; double integrated_motor_1_error = 0; double integrated_motor_2_error = 0; float last_motor_1_error = 0; float last_motor_2_error = 0; int disable = 1; //Motor stop flag int pwm1offset = 50; int pwm2offset = 50; int pwm1maximum = 255; int pwm2maximum = 255; float pwm1divider = 0.8039; float pwm2divider = 0.8039; float pwmfloat = 0; int pwmfrequencydivider = 1; //31kHz byte debugbyte =0; //This values are for debug purpose and can be send via int debuginteger =0; //the SendDebug serial 211 command to the X-Sim plugin double debugdouble =0; void setPwmFrequency(int pin, int divisor) { byte mode; if(pin == 5 || pin == 6 || pin == 9 || pin == 10) { switch(divisor) { case 1: mode = 0x01; break; case 8: mode = 0x02; break; case 64: mode = 0x03; break; case 256: mode = 0x04; break; case 1024: mode = 0x05; break; default: return; } if(pin == 5 || pin == 6) { TCCR0B = TCCR0B & 0b11111000 | mode; } else { TCCR1B = TCCR1B & 0b11111000 | mode; } } else { if(pin == 3 || pin == 11) { switch(divisor) { case 1: mode = 0x01; break; case 8: mode = 0x02; break; case 32: mode = 0x03; break; case 64: mode = 0x04; break; case 128: mode = 0x05; break; case 256: mode = 0x06; break; case 1024: mode = 0x7; break; default: return; } TCCR2B = TCCR2B & 0b11111000 | mode; } } } void setup() { //Serial.begin(115200); //Uncomment this for arduino UNO without ftdi serial chip Serial.begin(9600); //Uncomment this for arduino nano, arduino with ftdi chip or arduino duemilanove portdstatus=PORTD; pinMode(ControlPinM1Inp1, OUTPUT); pinMode(ControlPinM1Inp2, OUTPUT); pinMode(ControlPinM2Inp1, OUTPUT); pinMode(ControlPinM2Inp2, OUTPUT); pinMode(PWMPinM1, OUTPUT); pinMode(PWMPinM2, OUTPUT); analogWrite(PWMPinM1, 0); analogWrite(PWMPinM2, 0); UnsetMotor1Inp1(); UnsetMotor1Inp2(); UnsetMotor2Inp1(); UnsetMotor2Inp2(); disable=1; //TCCR1B = TCCR1B & 0b11111100; //This is a hack for changing the PWM frequency to a higher value, if removed it is 490Hz setPwmFrequency(9, 1); setPwmFrequency(10, 1); #if FASTADC // set analogue prescale to 16 sbi(ADCSRA,ADPS2) ; cbi(ADCSRA,ADPS1) ; cbi(ADCSRA,ADPS0) ; #endif } void WriteEEPRomWord(int address, int intvalue) { int low,high; high=intvalue/256; low=intvalue-(256*high); EEPROM.write(address,high); EEPROM.write(address+1,low); } int ReadEEPRomWord(int address) { int low,high, returnvalue; high=EEPROM.read(address); low=EEPROM.read(address+1); returnvalue=(high*256)+low; return returnvalue; } void WriteEEProm() { EEPROM.write(0,111); WriteEEPRomWord(1,FeedbackMin1); WriteEEPRomWord(3,FeedbackMax1); EEPROM.write(5,FeedbackPotDeadZone1); WriteEEPRomWord(6,FeedbackMin2); WriteEEPRomWord(8,FeedbackMax2); EEPROM.write(10,FeedbackPotDeadZone2); WriteEEPRomWord(11,int(proportional1*10.000)); WriteEEPRomWord(13,int(integral1*10.000)); WriteEEPRomWord(15,int(derivative1*10.000)); WriteEEPRomWord(17,int(proportional2*10.000)); WriteEEPRomWord(19,int(integral2*10.000)); WriteEEPRomWord(21,int(derivative2*10.000)); if(pwm1offset > 180 || pwm2offset > 180 || pwm1maximum < 200 || pwm2maximum < 200) { pwm1offset=50; pwm2offset=50; pwm1maximum=255; pwm2maximum=255; pwm1divider=0.8039; pwm2divider=0.8039; } EEPROM.write(23,pwm1offset); EEPROM.write(24,pwm2offset); EEPROM.write(25,pwm1maximum); EEPROM.write(26,pwm2maximum); if(pwmfrequencydivider != 1 && pwmfrequencydivider != 8) { pwmfrequencydivider=1; } EEPROM.write(27,pwmfrequencydivider); } void ReadEEProm() { int evalue = EEPROM.read(0); if(evalue != 111) //EEProm was not set before, set default values { WriteEEProm(); return; } FeedbackMin1=ReadEEPRomWord(1); FeedbackMax1=ReadEEPRomWord(3); FeedbackPotDeadZone1=EEPROM.read(5); FeedbackMin2=ReadEEPRomWord(6); FeedbackMax2=ReadEEPRomWord(8); FeedbackPotDeadZone2=EEPROM.read(10); proportional1=double(ReadEEPRomWord(11))/10.000; integral1=double(ReadEEPRomWord(13))/10.000; derivative1=double(ReadEEPRomWord(15))/10.000; proportional2=double(ReadEEPRomWord(17))/10.000; integral2=double(ReadEEPRomWord(19))/10.000; derivative2=double(ReadEEPRomWord(21))/10.000; pwm1offset=EEPROM.read(23); pwm2offset=EEPROM.read(24); pwm1maximum=EEPROM.read(25); pwm2maximum=EEPROM.read(26); if(pwm1offset > 180 || pwm2offset > 180 || pwm1maximum < 200 || pwm2maximum < 200) { pwm1offset=50; pwm2offset=50; pwm1maximum=255; pwm2maximum=255; pwm1divider=0.8039; pwm2divider=0.8039; EEPROM.write(23,pwm1offset); EEPROM.write(24,pwm2offset); EEPROM.write(25,pwm1maximum); EEPROM.write(26,pwm2maximum); } else { pwmfloat=float(pwm1maximum-pwm1offset); pwm1divider=pwmfloat/255.000; pwmfloat=float(pwm2maximum-pwm2offset); pwm2divider=pwmfloat/255.000; } pwmfrequencydivider=EEPROM.read(27); if(pwmfrequencydivider != 1 && pwmfrequencydivider != 8) { pwmfrequencydivider=1; EEPROM.write(27,pwmfrequencydivider); } quarter1=float(FeedbackMax1-FeedbackMin1)/4.000; quarter2=float(FeedbackMax2-FeedbackMin2)/4.000; threequarter1=quarter1*3.000; threequarter2=quarter1*3.000; setPwmFrequency(9, pwmfrequencydivider); setPwmFrequency(10, pwmfrequencydivider); } void SendAnalogueFeedback(int analogue1, int analogue2) { high=analogue1/256; low=analogue1-(high*256); Serial.write('X'); Serial.write(200); Serial.write(high); Serial.write(low); high=analogue2/256; low=analogue2-(high*256); Serial.write(high); Serial.write(low); } void SendPidCount() { unsigned long value=pidcount; hhigh=value/16777216; value=value-(hhigh*16777216); hlow=value/65536; value=value-(hlow*65536); lhigh=value/256; llow=value-(lhigh*256); Serial.write('X'); Serial.write(201); Serial.write(int(hhigh)); Serial.write(int(hlow)); Serial.write(int(lhigh)); Serial.write(int(llow)); Serial.write(errorcount); } void SendDebugValues() { //The double is transformed into a integer * 10 !!! int doubletransfere=int(double(debugdouble*10.000)); Serial.write('X'); Serial.write(211); Serial.write(debugbyte); Serial.write(HIGHBYTE(debuginteger)); Serial.write(LOWBYTE(debuginteger)); Serial.write(HIGHBYTE(doubletransfere)); Serial.write(LOWBYTE(doubletransfere)); } void SendFirmwareVersion() { Serial.write('X'); Serial.write('-'); Serial.write('P'); Serial.write('I'); Serial.write('D'); Serial.write(' '); Serial.write(48+firmaware_version_mayor); Serial.write('.'); Serial.write(48+firmware_version_minor); } void EEPromToSerial(int eeprom_address) { int retvalue=EEPROM.read(eeprom_address); Serial.write('X'); Serial.write(204); Serial.write(retvalue); } void ClearEEProm() { for(int z=0; z < 1024; z++) { EEPROM.write(z,255); } } void ParseCommand() { if(commandbuffer[0]==1) //Set motor 1 position to High and Low value 0 to 1023 { target1=(commandbuffer[1]*256)+commandbuffer[2]; disable=0; return; } if(commandbuffer[0]==2) //Set motor 2 position to High and Low value 0 to 1023 { target2=(commandbuffer[1]*256)+commandbuffer[2]; disable=0; return; } if(commandbuffer[0]==200) //Send both analogue feedback raw values { SendAnalogueFeedback(currentanalogue1, currentanalogue2); return; } if(commandbuffer[0]==201) //Send PID count { SendPidCount(); return; } if(commandbuffer[0]==202) //Send Firmware Version { SendFirmwareVersion(); return; } if(commandbuffer[0]==203) //Write EEPROM { EEPROM.write(commandbuffer[1],uint8_t(commandbuffer[2])); return; } if(commandbuffer[0]==204) //Read EEPROM { EEPromToSerial(commandbuffer[1]); return; } if(commandbuffer[0]==205) //Clear EEPROM { ClearEEProm(); return; } if(commandbuffer[0]==206) //Reread the whole EEPRom and store settings into fitting variables { ReadEEProm(); return; } if(commandbuffer[0]==207 || commandbuffer[0]==208) //Disable power on both motor { analogWrite(PWMPinM1, 0); UnsetMotor1Inp1(); UnsetMotor1Inp2(); analogWrite(PWMPinM2, 0); UnsetMotor2Inp1(); UnsetMotor2Inp2(); disable=1; return; } if(commandbuffer[0]==209 || commandbuffer[0]==210) //Enable power on both motor { analogWrite(PWMPinM1, 128); UnsetMotor1Inp1(); UnsetMotor1Inp2(); analogWrite(PWMPinM2, 128); UnsetMotor2Inp1(); UnsetMotor2Inp2(); disable=0; return; } if(commandbuffer[0]==211) //Send all debug values { SendDebugValues(); return; } } void FeedbackPotWorker() { currentanalogue1 = analogRead(FeedbackPin1); currentanalogue2 = analogRead(FeedbackPin2); //Notice: Minimum and maximum scaling calculation is done in the PC plugin with faster float support } bool CheckChecksum() //Atmel chips have a comport error rate of 2%, so we need here a checksum { byte checksum=0; for(int z=0; z < 3; z++) { byte val=commandbuffer[z]; checksum ^= val; } if(checksum==commandbuffer[3]){return true;} return false; } void SerialWorker() { while(Serial.available()) { if(buffercount==-1) { buffer = Serial.read(); if(buffer != 'X'){buffercount=-1;}else{buffercount=0;} } else { buffer = Serial.read(); commandbuffer[buffercount]=buffer; buffercount++; if(buffercount > 3) { if(CheckChecksum()==true){ParseCommand();}else{errorcount++;} buffercount=-1; } } } } void CalculateVirtualTarget() { if(turn360motor1==true) { virtualtarget1=target1; if(currentanalogue1 > int(threequarter1) && target1 < int(quarter1)){virtualtarget1+=FeedbackMax1;} else{if(currentanalogue1 < int(quarter1) && target1 > int(threequarter1)){virtualtarget1=0-FeedbackMax1-target1;}} } else { virtualtarget1=target1; } if(turn360motor2==true) { virtualtarget2=target2; if(currentanalogue2 > int(threequarter2) && target2 < int(quarter2)){virtualtarget2+=FeedbackMax2;} else{if(currentanalogue2 < int(quarter2) && target2 > int(threequarter2)){virtualtarget2=0-FeedbackMax2-target2;}} } else { virtualtarget2=target2; } } void CalculateMotorDirection() { if(virtualtarget1 > (currentanalogue1 + FeedbackPotDeadZone1) || virtualtarget1 < (currentanalogue1 - FeedbackPotDeadZone1)) { if (OutputM1 >= 0) { motordirection1=1; // drive motor 1 forward } else { motordirection1=2; // drive motor 1 backward OutputM1 = abs(OutputM1); } } else { motordirection1=0; } if(virtualtarget2 > (currentanalogue2 + FeedbackPotDeadZone2) || virtualtarget2 < (currentanalogue2 - FeedbackPotDeadZone2)) { if (OutputM2 >= 0) { motordirection2=1; // drive motor 2 forward } else { motordirection2=2; // drive motor 2 backward OutputM2 = abs(OutputM2); } } else { motordirection2=0; } OutputM1 = constrain(OutputM1, -255, 255); OutputM2 = constrain(OutputM2, -255, 255); } int updateMotor1Pid(int targetPosition, int currentPosition) { float error = (float)targetPosition - (float)currentPosition; float pTerm_motor_R = proportional1 * error; integrated_motor_1_error += error; float iTerm_motor_R = integral1 * constrain(integrated_motor_1_error, -GUARD_MOTOR_1_GAIN, GUARD_MOTOR_1_GAIN); float dTerm_motor_R = derivative1 * (error - last_motor_1_error); last_motor_1_error = error; return constrain(K_motor_1*(pTerm_motor_R + iTerm_motor_R + dTerm_motor_R), -255, 255); } int updateMotor2Pid(int targetPosition, int currentPosition) { float error = (float)targetPosition - (float)currentPosition; float pTerm_motor_L = proportional2 * error; integrated_motor_2_error += error; float iTerm_motor_L = integral2 * constrain(integrated_motor_2_error, -GUARD_MOTOR_2_GAIN, GUARD_MOTOR_2_GAIN); float dTerm_motor_L = derivative2 * (error - last_motor_2_error); last_motor_2_error = error; return constrain(K_motor_2*(pTerm_motor_L + iTerm_motor_L + dTerm_motor_L), -255, 255); } void CalculatePID() { OutputM1=updateMotor1Pid(virtualtarget1,currentanalogue1); OutputM2=updateMotor2Pid(virtualtarget2,currentanalogue2); } void SetPWM() { //Calculate PWM offset and maximum pwmfloat=OutputM1; pwmfloat*=pwm1divider; pwmfloat+=float(pwm1offset); OutputM1=pwmfloat; if(OutputM1 > pwm1maximum){OutputM1=pwm1maximum;} pwmfloat=OutputM2; pwmfloat*=pwm2divider; pwmfloat+=float(pwm2offset); OutputM2=pwmfloat; if(OutputM2 > pwm2maximum){OutputM2=pwm2maximum;} //Set hardware PWM if(motordirection1 != 0) { analogWrite(PWMPinM1, int(OutputM1)); } else { analogWrite(PWMPinM1, 0); } if(motordirection2 != 0) { analogWrite(PWMPinM2, int(OutputM2)); } else { analogWrite(PWMPinM2, 0); } } //Direct port manipulation, change here your port code void SetMotor1Inp1() { portdstatus |= 1 << ControlPinM1Inp1; PORTD = portdstatus; } void UnsetMotor1Inp1() { portdstatus &= ~(1 << ControlPinM1Inp1); PORTD = portdstatus; } void SetMotor1Inp2() { portdstatus |= 1 << ControlPinM1Inp2; PORTD = portdstatus; } void UnsetMotor1Inp2() { portdstatus &= ~(1 << ControlPinM1Inp2); PORTD = portdstatus; } void SetMotor2Inp1() { portdstatus |= 1 << ControlPinM2Inp1; PORTD = portdstatus; } void UnsetMotor2Inp1() { portdstatus &= ~(1 << ControlPinM2Inp1); PORTD = portdstatus; } void SetMotor2Inp2() { portdstatus |= 1 << ControlPinM2Inp2; PORTD = portdstatus; } void UnsetMotor2Inp2() { portdstatus &= ~(1 << ControlPinM2Inp2); PORTD = portdstatus; } void SetHBridgeControl() //With direct port manipulation for speedup the arduino framework! { //Motor 1 if(motordirection1 != oldmotordirection1) { if(motordirection1 != 0) { if(motordirection1 == 1) { SetMotor1Inp1(); UnsetMotor1Inp2(); } else { UnsetMotor1Inp1(); SetMotor1Inp2(); } } else { UnsetMotor1Inp1(); UnsetMotor1Inp2(); } oldmotordirection1=motordirection1; } //Motor 2 if(motordirection2 != oldmotordirection2) { if(motordirection2 != 0) { if(motordirection2 == 1) { SetMotor2Inp1(); UnsetMotor2Inp2(); } else { UnsetMotor2Inp1(); SetMotor2Inp2(); } } else { UnsetMotor2Inp1(); UnsetMotor2Inp2(); } oldmotordirection2=motordirection2; } } void loop() { //Read all stored PID and Feedback settings ReadEEProm(); //Program loop while (1==1) //Important hack: Use this own real time loop code without arduino framework delays { FeedbackPotWorker(); SerialWorker(); CalculateVirtualTarget(); CalculatePID(); CalculateMotorDirection(); if(disable==0) { SetPWM(); SetHBridgeControl(); } pidcount++; } }

da **marioursino** » 22 ott 2018, 16:13

Puoi provare a modificare così le due funzioni di aggiornamento del PID:

Codice: Seleziona tutto: int updateMotor1Pid(int targetPosition, int currentPosition) { float thp = 10; float thm = -10; float error = (float)targetPosition - (float)currentPosition; if(error <= thp && error > 0) error = 0; else if(error >= thm && error < 0) error = 0; float pTerm_motor_R = proportional1 * error; integrated_motor_1_error += error; float iTerm_motor_R = integral1 * constrain(integrated_motor_1_error, -GUARD_MOTOR_1_GAIN, GUARD_MOTOR_1_GAIN); float dTerm_motor_R = derivative1 * (error - last_motor_1_error); last_motor_1_error = error; return constrain(K_motor_1*(pTerm_motor_R + iTerm_motor_R + dTerm_motor_R), -255, 255); } int updateMotor2Pid(int targetPosition, int currentPosition) { float thp = 10; float thm = -10; float error = (float)targetPosition - (float)currentPosition; if(error <= thp && error > 0) error = 0; else if(error >= thm && error < 0) error = 0; float error = (float)targetPosition - (float)currentPosition; float pTerm_motor_L = proportional2 * error; integrated_motor_2_error += error; float iTerm_motor_L = integral2 * constrain(integrated_motor_2_error, -GUARD_MOTOR_2_GAIN, GUARD_MOTOR_2_GAIN); float dTerm_motor_L = derivative2 * (error - last_motor_2_error); last_motor_2_error = error; return constrain(K_motor_2*(pTerm_motor_L + iTerm_motor_L + dTerm_motor_L), -255, 255); }

Gioca con quel "10" se rimani troppo distante dal setpoint.

da **Salvatore129** » 22 ott 2018, 16:30

Non ho capito.
Dallo sketch originale devo togliere delle righe ed inserire quelle che mi hai appena allegato?
Di programmazione non ne capisco nulla, il mio limite arriva alla sola programmazione dell'Atmega tramite l'IDE di Arduino

da **marioursino** » 22 ott 2018, 16:35

Ti metto qui sotto l'intero testo modificato, puoi sostituirlo interamente con quello che segue.

Codice: Seleziona tutto: /* X-Sim PID This program will control two motor H-Bridge with analogue feedback and serial target input value Target is a Arduino UNO R3 but should work on all Arduino with Atmel 328, Arduinos with an FTDI serial chip need a change to lower baudrates of 57600 Copyright (c) 2013 Martin Wiedenbauer, particial use is only allowed with a reference link to the x-sim.de project Command input protocol (always 5 bytes, beginning with 'X' character and ends with a XOR checksum) 'X' 1 H L C Set motor 1 position to High and Low value 0 to 1023 'X' 2 H L C Set motor 2 position to High and Low value 0 to 1023 'X' 3 H L C Set motor 1 P Proportional value to High and Low value 'X' 4 H L C Set motor 2 P Proportional value to High and Low value 'X' 5 H L C Set motor 1 I Integral value to High and Low value 'X' 6 H L C Set motor 2 I Integral value to High and Low value 'X' 7 H L C Set motor 1 D Derivative value to High and Low value 'X' 8 H L C Set motor 2 D Derivative value to High and Low value 'X' 200 0 0 C Send back over serial port both analogue feedback raw values 'X' 201 0 0 C Send back over serial port the current pid count 'X' 202 0 0 C Send back over serial port the firmware version (used for x-sim autodetection) 'X' 203 M V C Write EEPROM on address M (only 0 to 255 of 1024 Bytes of the EEPROM) with new value V 'X' 204 M 0 C Read EEPROM on memory address M (only 0 to 255 of 1024 Bytes of the EEPROM), send back over serial the value 'X' 205 0 0 C Clear EEPROM 'X' 206 0 0 C Reread the whole EEPRom and store settings into fitting variables 'X' 207 0 0 C Disable power on motor 1 'X' 208 0 0 C Disable power on motor 2 'X' 209 0 0 C Enable power on motor 1 'X' 210 0 0 C Enable power on motor 2 'X' 211 0 0 C Send all debug values EEPROM memory map 00 empty eeprom detection, 111 if set, all other are indicator to set default 01-02 minimum 1 03-04 maximum 1 05 dead zone 1 06-07 minimum 2 08-09 maximum 2 10 dead zone 2 11-12 P component of motor 1 13-14 I component of motor 1 15-16 D component of motor 1 17-18 P component of motor 2 19-20 I component of motor 2 21-22 D component of motor 2 23 pwm1 offset 24 pwm2 offset 25 pwm1 maximum 26 pwm2 maximum 27 PWM frequency divider (1,8,64) Pin out of arduino for H-Bridge Pin 10 - PWM1 - Speed for Motor 1. Pin 9 - PWM2 - Speed for Motor 2. Pin 2 - INA1 - motor 1 turn Pin 3 - INA2 - motor 1 turn Pin 4 - INB1 - motor 2 turn Pin 5 - INB2 - motor 2 turn Analog Pins Pin A0 - input of feedback positioning from motor 1 Pin A1 - input of feedback positioning from motor 2 As well 5v and GND pins tapped in to feed feedback pots too. */ #include <EEPROM.h> //Some speed test switches for testers ;) #define FASTADC 1 //Hack to speed up the arduino analogue read function, comment out with // to disable this hack // defines for setting and clearing register bits #ifndef cbi #define cbi(sfr, bit) (_SFR_BYTE(sfr) &= ~_BV(bit)) #endif #ifndef sbi #define sbi(sfr, bit) (_SFR_BYTE(sfr) |= _BV(bit)) #endif #define LOWBYTE(v) ((unsigned char) (v)) //Read #define HIGHBYTE(v) ((unsigned char) (((unsigned int) (v)) >> 8)) #define BYTELOW(v) (*(((unsigned char *) (&v) + 1))) //Write #define BYTEHIGH(v) (*((unsigned char *) (&v))) #define GUARD_MOTOR_1_GAIN 100.0 #define GUARD_MOTOR_2_GAIN 100.0 //Firmware version info int firmaware_version_mayor=1; int firmware_version_minor =4; //360� option for flight simulators bool turn360motor1 = false; bool turn360motor2 = false; int virtualtarget1; int virtualtarget2; int currentanalogue1 = 0; int currentanalogue2 = 0; int target1=512; int target2=512; int low=0; int high=0; unsigned long hhigh=0; unsigned long hlow=0; unsigned long lhigh=0; unsigned long llow=0; int buffer=0; int buffercount=-1; int commandbuffer[5]={0}; unsigned long pidcount = 0; // unsigned 32bit, 0 to 4,294,967,295 byte errorcount = 0; // serial receive error detected by checksum // fixed DATA for direct port manipulation, exchange here each value if your h-Bridge is connected to another port pin // This pinning overview is to avoid the slow pin switching of the arduino libraries // // +-\/-+ // PC6 1| |28 PC5 (AI 5) // (D 0) PD0 2| |27 PC4 (AI 4) // (D 1) PD1 3| |26 PC3 (AI 3) // (D 2) PD2 4| |25 PC2 (AI 2) // PWM+ (D 3) PD3 5| |24 PC1 (AI 1) // (D 4) PD4 6| |23 PC0 (AI 0) // VCC 7| |22 GND // GND 8| |21 AREF // PB6 9| |20 AVCC // PB7 10| |19 PB5 (D 13) // PWM+ (D 5) PD5 11| |18 PB4 (D 12) // PWM+ (D 6) PD6 12| |17 PB3 (D 11) PWM // (D 7) PD7 13| |16 PB2 (D 10) PWM // (D 8) PB0 14| |15 PB1 (D 9) PWM // +----+ // int portdstatus =PORTD; // read the current port D bit mask int ControlPinM1Inp1 =2; // motor 1 INP1 output, this is the arduino pin description int ControlPinM1Inp2 =3; // motor 1 INP2 output, this is the arduino pin description int ControlPinM2Inp1 =4; // motor 2 INP1 output, this is the arduino pin description int ControlPinM2Inp2 =5; // motor 2 INP2 output, this is the arduino pin description int PWMPinM1 =10; // motor 1 PWM output int PWMPinM2 =9; // motor 2 PWM output // Pot feedback inputs int FeedbackPin1 = A0; // select the input pin for the potentiometer 1, PC0 int FeedbackPin2 = A1; // select the input pin for the potentiometer 2, PC1 int FeedbackMax1 = 1021; // Maximum position of pot 1 to scale, do not use 1023 because it cannot control outside the pot range int FeedbackMin1 = 2; // Minimum position of pot 1 to scale, do not use 0 because it cannot control outside the pot range int FeedbackMax2 = 1021; // Maximum position of pot 2 to scale, do not use 1023 because it cannot control outside the pot range int FeedbackMin2 = 2; // Minimum position of pot 2 to scale, do not use 0 because it cannot control outside the pot range int FeedbackPotDeadZone1 = 0; // +/- of this value will not move the motor int FeedbackPotDeadZone2 = 0; // +/- of this value will not move the motor float quarter1 = 254.75; float quarter2 = 254.75; float threequarter1 = 764.25; float threequarter2 = 764.25; //PID variables int motordirection1 = 0; // motor 1 move direction 0=brake, 1=forward, 2=reverse int motordirection2 = 0; // motor 2 move direction 0=brake, 1=forward, 2=reverse int oldmotordirection1 = 0; int oldmotordirection2 = 0; double K_motor_1 = 1; double proportional1 = 4.200; //initial value double integral1 = 0.400; double derivative1 = 0.400; double K_motor_2 = 1; double proportional2 = 4.200; double integral2 = 0.400; double derivative2 = 0.400; int OutputM1 = 0; int OutputM2 = 0; double integrated_motor_1_error = 0; double integrated_motor_2_error = 0; float last_motor_1_error = 0; float last_motor_2_error = 0; int disable = 1; //Motor stop flag int pwm1offset = 50; int pwm2offset = 50; int pwm1maximum = 255; int pwm2maximum = 255; float pwm1divider = 0.8039; float pwm2divider = 0.8039; float pwmfloat = 0; int pwmfrequencydivider = 1; //31kHz byte debugbyte =0; //This values are for debug purpose and can be send via int debuginteger =0; //the SendDebug serial 211 command to the X-Sim plugin double debugdouble =0; void setPwmFrequency(int pin, int divisor) { byte mode; if(pin == 5 || pin == 6 || pin == 9 || pin == 10) { switch(divisor) { case 1: mode = 0x01; break; case 8: mode = 0x02; break; case 64: mode = 0x03; break; case 256: mode = 0x04; break; case 1024: mode = 0x05; break; default: return; } if(pin == 5 || pin == 6) { TCCR0B = TCCR0B & 0b11111000 | mode; } else { TCCR1B = TCCR1B & 0b11111000 | mode; } } else { if(pin == 3 || pin == 11) { switch(divisor) { case 1: mode = 0x01; break; case 8: mode = 0x02; break; case 32: mode = 0x03; break; case 64: mode = 0x04; break; case 128: mode = 0x05; break; case 256: mode = 0x06; break; case 1024: mode = 0x7; break; default: return; } TCCR2B = TCCR2B & 0b11111000 | mode; } } } void setup() { //Serial.begin(115200); //Uncomment this for arduino UNO without ftdi serial chip Serial.begin(9600); //Uncomment this for arduino nano, arduino with ftdi chip or arduino duemilanove portdstatus=PORTD; pinMode(ControlPinM1Inp1, OUTPUT); pinMode(ControlPinM1Inp2, OUTPUT); pinMode(ControlPinM2Inp1, OUTPUT); pinMode(ControlPinM2Inp2, OUTPUT); pinMode(PWMPinM1, OUTPUT); pinMode(PWMPinM2, OUTPUT); analogWrite(PWMPinM1, 0); analogWrite(PWMPinM2, 0); UnsetMotor1Inp1(); UnsetMotor1Inp2(); UnsetMotor2Inp1(); UnsetMotor2Inp2(); disable=1; //TCCR1B = TCCR1B & 0b11111100; //This is a hack for changing the PWM frequency to a higher value, if removed it is 490Hz setPwmFrequency(9, 1); setPwmFrequency(10, 1); #if FASTADC // set analogue prescale to 16 sbi(ADCSRA,ADPS2) ; cbi(ADCSRA,ADPS1) ; cbi(ADCSRA,ADPS0) ; #endif } void WriteEEPRomWord(int address, int intvalue) { int low,high; high=intvalue/256; low=intvalue-(256*high); EEPROM.write(address,high); EEPROM.write(address+1,low); } int ReadEEPRomWord(int address) { int low,high, returnvalue; high=EEPROM.read(address); low=EEPROM.read(address+1); returnvalue=(high*256)+low; return returnvalue; } void WriteEEProm() { EEPROM.write(0,111); WriteEEPRomWord(1,FeedbackMin1); WriteEEPRomWord(3,FeedbackMax1); EEPROM.write(5,FeedbackPotDeadZone1); WriteEEPRomWord(6,FeedbackMin2); WriteEEPRomWord(8,FeedbackMax2); EEPROM.write(10,FeedbackPotDeadZone2); WriteEEPRomWord(11,int(proportional1*10.000)); WriteEEPRomWord(13,int(integral1*10.000)); WriteEEPRomWord(15,int(derivative1*10.000)); WriteEEPRomWord(17,int(proportional2*10.000)); WriteEEPRomWord(19,int(integral2*10.000)); WriteEEPRomWord(21,int(derivative2*10.000)); if(pwm1offset > 180 || pwm2offset > 180 || pwm1maximum < 200 || pwm2maximum < 200) { pwm1offset=50; pwm2offset=50; pwm1maximum=255; pwm2maximum=255; pwm1divider=0.8039; pwm2divider=0.8039; } EEPROM.write(23,pwm1offset); EEPROM.write(24,pwm2offset); EEPROM.write(25,pwm1maximum); EEPROM.write(26,pwm2maximum); if(pwmfrequencydivider != 1 && pwmfrequencydivider != 8) { pwmfrequencydivider=1; } EEPROM.write(27,pwmfrequencydivider); } void ReadEEProm() { int evalue = EEPROM.read(0); if(evalue != 111) //EEProm was not set before, set default values { WriteEEProm(); return; } FeedbackMin1=ReadEEPRomWord(1); FeedbackMax1=ReadEEPRomWord(3); FeedbackPotDeadZone1=EEPROM.read(5); FeedbackMin2=ReadEEPRomWord(6); FeedbackMax2=ReadEEPRomWord(8); FeedbackPotDeadZone2=EEPROM.read(10); proportional1=double(ReadEEPRomWord(11))/10.000; integral1=double(ReadEEPRomWord(13))/10.000; derivative1=double(ReadEEPRomWord(15))/10.000; proportional2=double(ReadEEPRomWord(17))/10.000; integral2=double(ReadEEPRomWord(19))/10.000; derivative2=double(ReadEEPRomWord(21))/10.000; pwm1offset=EEPROM.read(23); pwm2offset=EEPROM.read(24); pwm1maximum=EEPROM.read(25); pwm2maximum=EEPROM.read(26); if(pwm1offset > 180 || pwm2offset > 180 || pwm1maximum < 200 || pwm2maximum < 200) { pwm1offset=50; pwm2offset=50; pwm1maximum=255; pwm2maximum=255; pwm1divider=0.8039; pwm2divider=0.8039; EEPROM.write(23,pwm1offset); EEPROM.write(24,pwm2offset); EEPROM.write(25,pwm1maximum); EEPROM.write(26,pwm2maximum); } else { pwmfloat=float(pwm1maximum-pwm1offset); pwm1divider=pwmfloat/255.000; pwmfloat=float(pwm2maximum-pwm2offset); pwm2divider=pwmfloat/255.000; } pwmfrequencydivider=EEPROM.read(27); if(pwmfrequencydivider != 1 && pwmfrequencydivider != 8) { pwmfrequencydivider=1; EEPROM.write(27,pwmfrequencydivider); } quarter1=float(FeedbackMax1-FeedbackMin1)/4.000; quarter2=float(FeedbackMax2-FeedbackMin2)/4.000; threequarter1=quarter1*3.000; threequarter2=quarter1*3.000; setPwmFrequency(9, pwmfrequencydivider); setPwmFrequency(10, pwmfrequencydivider); } void SendAnalogueFeedback(int analogue1, int analogue2) { high=analogue1/256; low=analogue1-(high*256); Serial.write('X'); Serial.write(200); Serial.write(high); Serial.write(low); high=analogue2/256; low=analogue2-(high*256); Serial.write(high); Serial.write(low); } void SendPidCount() { unsigned long value=pidcount; hhigh=value/16777216; value=value-(hhigh*16777216); hlow=value/65536; value=value-(hlow*65536); lhigh=value/256; llow=value-(lhigh*256); Serial.write('X'); Serial.write(201); Serial.write(int(hhigh)); Serial.write(int(hlow)); Serial.write(int(lhigh)); Serial.write(int(llow)); Serial.write(errorcount); } void SendDebugValues() { //The double is transformed into a integer * 10 !!! int doubletransfere=int(double(debugdouble*10.000)); Serial.write('X'); Serial.write(211); Serial.write(debugbyte); Serial.write(HIGHBYTE(debuginteger)); Serial.write(LOWBYTE(debuginteger)); Serial.write(HIGHBYTE(doubletransfere)); Serial.write(LOWBYTE(doubletransfere)); } void SendFirmwareVersion() { Serial.write('X'); Serial.write('-'); Serial.write('P'); Serial.write('I'); Serial.write('D'); Serial.write(' '); Serial.write(48+firmaware_version_mayor); Serial.write('.'); Serial.write(48+firmware_version_minor); } void EEPromToSerial(int eeprom_address) { int retvalue=EEPROM.read(eeprom_address); Serial.write('X'); Serial.write(204); Serial.write(retvalue); } void ClearEEProm() { for(int z=0; z < 1024; z++) { EEPROM.write(z,255); } } void ParseCommand() { if(commandbuffer[0]==1) //Set motor 1 position to High and Low value 0 to 1023 { target1=(commandbuffer[1]*256)+commandbuffer[2]; disable=0; return; } if(commandbuffer[0]==2) //Set motor 2 position to High and Low value 0 to 1023 { target2=(commandbuffer[1]*256)+commandbuffer[2]; disable=0; return; } if(commandbuffer[0]==200) //Send both analogue feedback raw values { SendAnalogueFeedback(currentanalogue1, currentanalogue2); return; } if(commandbuffer[0]==201) //Send PID count { SendPidCount(); return; } if(commandbuffer[0]==202) //Send Firmware Version { SendFirmwareVersion(); return; } if(commandbuffer[0]==203) //Write EEPROM { EEPROM.write(commandbuffer[1],uint8_t(commandbuffer[2])); return; } if(commandbuffer[0]==204) //Read EEPROM { EEPromToSerial(commandbuffer[1]); return; } if(commandbuffer[0]==205) //Clear EEPROM { ClearEEProm(); return; } if(commandbuffer[0]==206) //Reread the whole EEPRom and store settings into fitting variables { ReadEEProm(); return; } if(commandbuffer[0]==207 || commandbuffer[0]==208) //Disable power on both motor { analogWrite(PWMPinM1, 0); UnsetMotor1Inp1(); UnsetMotor1Inp2(); analogWrite(PWMPinM2, 0); UnsetMotor2Inp1(); UnsetMotor2Inp2(); disable=1; return; } if(commandbuffer[0]==209 || commandbuffer[0]==210) //Enable power on both motor { analogWrite(PWMPinM1, 128); UnsetMotor1Inp1(); UnsetMotor1Inp2(); analogWrite(PWMPinM2, 128); UnsetMotor2Inp1(); UnsetMotor2Inp2(); disable=0; return; } if(commandbuffer[0]==211) //Send all debug values { SendDebugValues(); return; } } void FeedbackPotWorker() { currentanalogue1 = analogRead(FeedbackPin1); currentanalogue2 = analogRead(FeedbackPin2); //Notice: Minimum and maximum scaling calculation is done in the PC plugin with faster float support } bool CheckChecksum() //Atmel chips have a comport error rate of 2%, so we need here a checksum { byte checksum=0; for(int z=0; z < 3; z++) { byte val=commandbuffer[z]; checksum ^= val; } if(checksum==commandbuffer[3]){return true;} return false; } void SerialWorker() { while(Serial.available()) { if(buffercount==-1) { buffer = Serial.read(); if(buffer != 'X'){buffercount=-1;}else{buffercount=0;} } else { buffer = Serial.read(); commandbuffer[buffercount]=buffer; buffercount++; if(buffercount > 3) { if(CheckChecksum()==true){ParseCommand();}else{errorcount++;} buffercount=-1; } } } } void CalculateVirtualTarget() { if(turn360motor1==true) { virtualtarget1=target1; if(currentanalogue1 > int(threequarter1) && target1 < int(quarter1)){virtualtarget1+=FeedbackMax1;} else{if(currentanalogue1 < int(quarter1) && target1 > int(threequarter1)){virtualtarget1=0-FeedbackMax1-target1;}} } else { virtualtarget1=target1; } if(turn360motor2==true) { virtualtarget2=target2; if(currentanalogue2 > int(threequarter2) && target2 < int(quarter2)){virtualtarget2+=FeedbackMax2;} else{if(currentanalogue2 < int(quarter2) && target2 > int(threequarter2)){virtualtarget2=0-FeedbackMax2-target2;}} } else { virtualtarget2=target2; } } void CalculateMotorDirection() { if(virtualtarget1 > (currentanalogue1 + FeedbackPotDeadZone1) || virtualtarget1 < (currentanalogue1 - FeedbackPotDeadZone1)) { if (OutputM1 >= 0) { motordirection1=1; // drive motor 1 forward } else { motordirection1=2; // drive motor 1 backward OutputM1 = abs(OutputM1); } } else { motordirection1=0; } if(virtualtarget2 > (currentanalogue2 + FeedbackPotDeadZone2) || virtualtarget2 < (currentanalogue2 - FeedbackPotDeadZone2)) { if (OutputM2 >= 0) { motordirection2=1; // drive motor 2 forward } else { motordirection2=2; // drive motor 2 backward OutputM2 = abs(OutputM2); } } else { motordirection2=0; } OutputM1 = constrain(OutputM1, -255, 255); OutputM2 = constrain(OutputM2, -255, 255); } int updateMotor1Pid(int targetPosition, int currentPosition) { float thp = 10; float thm = -10; float error = (float)targetPosition - (float)currentPosition; if(error <= thp && error > 0) error = 0; else if(error >= thm && error < 0) error = 0; float pTerm_motor_R = proportional1 * error; integrated_motor_1_error += error; float iTerm_motor_R = integral1 * constrain(integrated_motor_1_error, -GUARD_MOTOR_1_GAIN, GUARD_MOTOR_1_GAIN); float dTerm_motor_R = derivative1 * (error - last_motor_1_error); last_motor_1_error = error; return constrain(K_motor_1*(pTerm_motor_R + iTerm_motor_R + dTerm_motor_R), -255, 255); } int updateMotor2Pid(int targetPosition, int currentPosition) { float thp = 10; float thm = -10; float error = (float)targetPosition - (float)currentPosition; if(error <= thp && error > 0) error = 0; else if(error >= thm && error < 0) error = 0; float error = (float)targetPosition - (float)currentPosition; float pTerm_motor_L = proportional2 * error; integrated_motor_2_error += error; float iTerm_motor_L = integral2 * constrain(integrated_motor_2_error, -GUARD_MOTOR_2_GAIN, GUARD_MOTOR_2_GAIN); float dTerm_motor_L = derivative2 * (error - last_motor_2_error); last_motor_2_error = error; return constrain(K_motor_2*(pTerm_motor_L + iTerm_motor_L + dTerm_motor_L), -255, 255); } void CalculatePID() { OutputM1=updateMotor1Pid(virtualtarget1,currentanalogue1); OutputM2=updateMotor2Pid(virtualtarget2,currentanalogue2); } void SetPWM() { //Calculate PWM offset and maximum pwmfloat=OutputM1; pwmfloat*=pwm1divider; pwmfloat+=float(pwm1offset); OutputM1=pwmfloat; if(OutputM1 > pwm1maximum){OutputM1=pwm1maximum;} pwmfloat=OutputM2; pwmfloat*=pwm2divider; pwmfloat+=float(pwm2offset); OutputM2=pwmfloat; if(OutputM2 > pwm2maximum){OutputM2=pwm2maximum;} //Set hardware PWM if(motordirection1 != 0) { analogWrite(PWMPinM1, int(OutputM1)); } else { analogWrite(PWMPinM1, 0); } if(motordirection2 != 0) { analogWrite(PWMPinM2, int(OutputM2)); } else { analogWrite(PWMPinM2, 0); } } //Direct port manipulation, change here your port code void SetMotor1Inp1() { portdstatus |= 1 << ControlPinM1Inp1; PORTD = portdstatus; } void UnsetMotor1Inp1() { portdstatus &= ~(1 << ControlPinM1Inp1); PORTD = portdstatus; } void SetMotor1Inp2() { portdstatus |= 1 << ControlPinM1Inp2; PORTD = portdstatus; } void UnsetMotor1Inp2() { portdstatus &= ~(1 << ControlPinM1Inp2); PORTD = portdstatus; } void SetMotor2Inp1() { portdstatus |= 1 << ControlPinM2Inp1; PORTD = portdstatus; } void UnsetMotor2Inp1() { portdstatus &= ~(1 << ControlPinM2Inp1); PORTD = portdstatus; } void SetMotor2Inp2() { portdstatus |= 1 << ControlPinM2Inp2; PORTD = portdstatus; } void UnsetMotor2Inp2() { portdstatus &= ~(1 << ControlPinM2Inp2); PORTD = portdstatus; } void SetHBridgeControl() //With direct port manipulation for speedup the arduino framework! { //Motor 1 if(motordirection1 != oldmotordirection1) { if(motordirection1 != 0) { if(motordirection1 == 1) { SetMotor1Inp1(); UnsetMotor1Inp2(); } else { UnsetMotor1Inp1(); SetMotor1Inp2(); } } else { UnsetMotor1Inp1(); UnsetMotor1Inp2(); } oldmotordirection1=motordirection1; } //Motor 2 if(motordirection2 != oldmotordirection2) { if(motordirection2 != 0) { if(motordirection2 == 1) { SetMotor2Inp1(); UnsetMotor2Inp2(); } else { UnsetMotor2Inp1(); SetMotor2Inp2(); } } else { UnsetMotor2Inp1(); UnsetMotor2Inp2(); } oldmotordirection2=motordirection2; } } void loop() { //Read all stored PID and Feedback settings ReadEEProm(); //Program loop while (1==1) //Important hack: Use this own real time loop code without arduino framework delays { FeedbackPotWorker(); SerialWorker(); CalculateVirtualTarget(); CalculatePID(); CalculateMotorDirection(); if(disable==0) { SetPWM(); SetHBridgeControl(); } pidcount++; } }

da **Salvatore129** » 22 ott 2018, 17:31

Grazie Mario, credo che stasera lo proverò immediatamente, sono molto curioso di vedere se finalmente il rumore va via.

Solo questa cosa non ho capito

Gioca con quel "10" se rimani troppo distante dal setpoint.

il valore 10 e -10 è quel valore tale che mi crea una tolleranza di zona morta "deadzone"?

Domande:

1) se modifico il valore 10 a 9, devo anche modificare in maniera speculare il valore -10 portandolo a -9?
2) I valori 10 e -10, piu sono vicini allo zero e piu la tolleranza diminuisce, quindi inizio a sentire nuovamente il rumore?

da **marioursino** » 22 ott 2018, 19:13

Salvatore129 ha scritto:il valore 10 e -10 è quel valore tale che mi crea una tolleranza di zona morta "deadzone"?

Ebbene sì

Salvatore129 ha scritto:1) se modifico il valore 10 a 9, devo anche modificare in maniera speculare il valore -10 portandolo a -9?

Sì

Salvatore129 ha scritto:2) I valori 10 e -10, piu sono vicini allo zero e piu la tolleranza diminuisce, quindi inizio a sentire nuovamente il rumore?

Sì

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